本文選題：模態(tài)分析　切入點：獨立模態(tài)空間控制　出處：《中國地質(zhì)大學(xué)》2017年碩士論文

【摘要】：隨著全球陸地礦產(chǎn)資源的逐漸枯竭,世界各國紛紛將目光投向了廣袤的海洋。海洋所蘊藏的巨大儲量的礦產(chǎn)資源極有可能打破現(xiàn)有的產(chǎn)業(yè)格局,甚至引發(fā)能源革命。海底鉆探取樣是海底礦產(chǎn)資源勘察的重要手段,對于礦產(chǎn)資源勘察和開采均具有重要意義。我國海洋資源理論蘊藏量很大,但探明量很少,海洋勘探尚處于初級階段,現(xiàn)有的海底勘探取芯技術(shù)方法相對簡單,深部取芯能力不足,樣品質(zhì)量較差,尤其是面對海底復(fù)雜地層的工況條件時,樣品采取率極低。因此,為了提高海洋資源開發(fā)能力,維護海洋權(quán)益,研制性能可靠、穩(wěn)定的海底鉆探取樣設(shè)備迫在眉睫。海床式取芯鉆機作業(yè)過程無法進行人工干預(yù),其鉆進作業(yè)均由控制系統(tǒng)遠(yuǎn)程控制,因此其控制系統(tǒng)性能的優(yōu)劣直接決定了海床式取芯鉆機的作業(yè)效率和作業(yè)安全。本文圍繞海床式取芯鉆機振動控制這一目標(biāo),展開了海床式取芯鉆機試驗?zāi)B(tài)分析和計算模態(tài)分析、控制模型的建立、測控系統(tǒng)的搭建以及上位機軟件的編寫等方面的工作。(1)查閱了大量的文獻資料,歸納整理了現(xiàn)有的國內(nèi)外海床式取芯鉆機的研究現(xiàn)狀,包括其性能參數(shù)、控制方法以及應(yīng)用范圍等等,分析了現(xiàn)有普通鉆機的控制方法和控制策略,分析海床式取芯鉆機系統(tǒng)功能特點和控制要求,提出控制策略和方法。(2)對實驗室海床式取芯鉆機模型樣機平臺總體結(jié)構(gòu)進行介紹,詳細(xì)介紹了鉆機回轉(zhuǎn)鉆進系統(tǒng)和鉆具庫系統(tǒng),包括了鉆機動力頭回轉(zhuǎn)系統(tǒng)、油缸鏈條倍增給進機構(gòu)、鉆桿庫方案和機械手系統(tǒng)。針對海床式取芯鉆機鉆塔,制定試驗?zāi)B(tài)分析方案,通過彈性繩懸掛方式進行自由狀態(tài)下的模態(tài)試驗,通過有限元分析軟件對鉆塔模型進行自由模態(tài)分析,分析結(jié)果與試驗?zāi)B(tài)結(jié)果進行對比,相互驗證。對鉆塔施加約束后,利用有限元法分析其約束狀態(tài)下結(jié)構(gòu)固有模態(tài)特性。(3)針對海床式取芯鉆機模型樣機建立了基于模態(tài)濾波器的獨立模態(tài)空間控制方法理論。獨立模態(tài)控制控制方法主體可以分為離線數(shù)據(jù)準(zhǔn)備和在線控制兩部分。離線數(shù)據(jù)準(zhǔn)備需要采用試驗?zāi)B(tài)技術(shù)對所要控制結(jié)構(gòu)進行模態(tài)分析,獲取其固有模態(tài)參數(shù),包括固有頻率、阻尼比。同時獲取各個測點處的頻響函數(shù),求解模態(tài)濾波器。在線控制部分需要在結(jié)構(gòu)測點位置布置若干加速度傳感器,實時采集各測點加速度信號,根據(jù)模態(tài)濾波器,將物理加速度與模態(tài)加速度進行轉(zhuǎn)換,計算模態(tài)控制力和物理控制力。通過實時調(diào)整鉆進參數(shù),實現(xiàn)對結(jié)構(gòu)模態(tài)振動的實時控制。(4)針對所設(shè)計通過改變鉆壓實現(xiàn)對鉆機結(jié)構(gòu)模態(tài)振動的控制策略,通過有限元分析軟件對鉆機鉆塔進行預(yù)應(yīng)力模態(tài)分析,在動力頭施加一定大小范圍內(nèi)的載荷,分析其對鉆塔結(jié)構(gòu)固有模態(tài)的影響。對鉆塔進行瞬態(tài)動力學(xué)分析,分析對動力頭施加額外控制力后對結(jié)構(gòu)響應(yīng)的影響。(5)基于PXI平臺搭建海床式取芯鉆機測控系統(tǒng),設(shè)計測控系統(tǒng)總體方案。對鉆機回轉(zhuǎn)控制系統(tǒng)、鉆機給進控制系統(tǒng)和機械手控制系統(tǒng)進行詳細(xì)設(shè)計,對監(jiān)測系統(tǒng)進行設(shè)計,并基于LabVIEW軟件編寫上位機測控系統(tǒng)軟件。本文創(chuàng)新點:(1)本文將試驗?zāi)B(tài)分析技術(shù)和有限元模態(tài)分析技術(shù)相結(jié)合對海床式取芯鉆機鉆塔進行模態(tài)實驗,分析鉆塔的固有模態(tài)特性,并提出了通過控制其固有模態(tài)來改善鉆機實際工作狀態(tài)下的振動情況。(2)針對海床式取芯鉆機,建立了基于模態(tài)濾波器的獨立模態(tài)空間控制方法,通過在一定范圍內(nèi)改變鉆壓,改變結(jié)構(gòu)固有模態(tài),抑制鉆機共振情況。
[Abstract]:The global land with the depletion of mineral resources, countries around the world will look to the vast ocean. The ocean contains huge reserves of mineral resources is likely to break the existing industrial structure, and even lead to energy revolution. Offshore drilling sampling is an important means of seabed mineral resources exploration, has important significance for mineral resources exploration and the exploitation of marine resources. The theory of China's reserves is large, but proved that small amount of ocean exploration is still in the initial stage, the existing seabed exploration coring technique is relatively simple, the deep core ability is insufficient, the sample quality is poor, especially in the face of the complex formation conditions, the sample rate is very low. So take and in order to improve the ability of marine resources development, maintenance of maritime rights and interests, the development of reliable performance, offshore drilling and sampling equipment stability is imminent. Seabed type coring drill machine No artificial intervention, the drilling operations are controlled by the remote control system, so the performance of the control system directly determines the efficiency and safety of seabed type coring rig. This paper focuses on the seabed type coring rig vibration control of this goal, the seabed type experimental modal analysis and modal analysis of core drill and to establish the control model and control system is established and the program of upper computer software and other aspects of the work. (1) a large number of documents, sum up the research status at home and abroad the seabed type existing core drilling rig, including its performance parameters, control method and application range and so on, the control method and analysis the control strategy of existing ordinary rig, analysis of seabed type coring drilling system features and control requirements, and puts forward the control strategy and methods. (2) of the laboratory type seabed coring rig. The overall structure of the machine platform, introduces the drilling rig rotary drilling system and drilling system, including the drill power head of rotary system, double cylinder chain feeding mechanism, the drill pipe base and manipulator system. Aiming at the seabed type coring drill rig, making analysis scheme test mode, the elastic rope hanging way free free modal test, free modal analysis of the derrick model through the finite element analysis software, analysis results and experimental modal comparison, mutual authentication. The constraints imposed on the derrick, modal analysis of structure inherent constraint condition using finite element method. (3) according to the seabed type coring rig model prototype is established the theory of independent modal space control method based on modal filter. The independent modal control method can be divided into offline and online data preparation from control of two parts. Line data preparation needs to take control of the structure modal analysis using experimental modal analysis, get the modal parameters, including natural frequencies, damping ratio. At the same time to obtain the frequency response function of each measuring point of the solution. The online modal filter control part in structure measuring point arrangement of several acceleration sensor, the measuring point acceleration signal in real time the acquisition, according to the modal filter, the physical acceleration and acceleration mode conversion, calculation of modal control force and physical force control. By adjusting the drilling parameters, realize the real-time control of vibration of the structure modal. (4) according to the design by changing the drilling pressure control strategy of modal vibration drilling rig structure, prestressed modal analysis of drilling rig drill through the finite element analysis software, the applied load within a certain scope in power head, analysis of its inherent modal derrick Impact. The transient dynamics analysis of the derrick, analyzed the effect on the structural response to impose additional control of the power head. (5) PXI platform to build seabed type coring rig control system based on the overall design, measurement and control system. The control system of rotary drilling rig, drill feeding control system and manipulator control system in detail design, design of the monitoring system and LabVIEW software control system based on PC software. The innovation of this paper: (1) the experimental modal analysis and finite element modal analysis technology combined on the seabed type core drilling rig derrick modal experiment, analysis of modal characteristics of rigs, and put forward to improve the vibration the actual working condition of the machine by controlling its intrinsic mode. (2) according to the type of seabed coring rig, established the independent modal space control method based on modal filter, through the In a certain range, the drilling pressure is changed, the inherent modal of the structure is changed, and the resonance of the rig is suppressed.

【學(xué)位授予單位】：中國地質(zhì)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：P756.5;TP273

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